Blame for EgoHOS/shared-v1.1/script/validate.py

#!/usr/bin/env python3
"""Validate all shared frames; render every available modality in sampled views."""
import argparse
from collections import defaultdict
import hashlib
import html
import json
import random
from pathlib import Path

import numpy as np
from PIL import Image, ImageDraw
import torch

from acquire import sha
from media import decode, rgb

COLORS = [(0, 0, 0), (255, 70, 80), (50, 150, 255), (255, 180, 40), (80, 220, 100),
          (220, 80, 220), (140, 90, 40), (40, 220, 220), (150, 150, 255), (70, 70, 70)]
EDGES = [(0, i) for i in (1, 5, 9, 13, 17)] + [(i, i+1) for i in range(1, 21) if i % 4 != 0]


def read_json(path):
    return json.loads(path.read_text())


def read_jsonl(path):
    return [json.loads(line) for line in path.read_text().splitlines()]


def pt(path):
    t = torch.load(path, map_location='cpu', weights_only=True)
    if not isinstance(t, torch.Tensor) or t.device.type != 'cpu':
        raise ValueError(f'Expected CPU Tensor: {path}')
    return t.numpy()


def local_ref(view, ref):
    p = view / ref
    if not p.resolve().is_relative_to(view.resolve()) or not p.is_file():
        raise ValueError(f'Broken/unsafe reference: {ref}')
    return p


def check_inventory(root, expected):
    actual = {p.relative_to(root).as_posix(): sha(p) for p in root.rglob('*') if p.is_file() and '__pycache__' not in p.parts
              and p.relative_to(root).as_posix() not in ('doc/validation/report.json', 'doc/validation/human_review.json')}
    if actual != expected:
        raise ValueError('Release contents changed after validation; revalidate and repeat human review')


def validate_view(view, registry):
    m = read_json(view / 'metainfo.json')
    if m.get('dataset_id') != 'EgoHOS':
        raise ValueError('This v1.1 validator supports EgoHOS only')
    frames = read_jsonl(view / 'camera/frames.jsonl')
    t = m['num_frames']
    if t < 1 or m['hand_slots'] != ['left', 'right'] or len(frames) != t:
        raise ValueError('Frame count/hand-slot error')
    required = registry['view_metadata']['required_fields']
    if [k for k in required if k not in m]:
        raise ValueError(f'Missing required view metadata fields: {[k for k in required if k not in m]}')
    if (m['schema_version'] != registry['view_metadata']['schema_version']
            or m['release_id'] != registry['release_layout']['release_id']):
        raise ValueError(f"Invalid schema/release version: {m['schema_version']}/{m['release_id']}")
    if m['view_type'] not in registry['view_metadata']['view_type_values']:
        raise ValueError('Invalid view_type')
    if [r['frame_index'] for r in frames] != list(range(t)) or len({r['sample_id'] for r in frames}) != t:
        raise ValueError('Invalid/duplicate frame IDs')
    for f in frames:
        for key in ['timestamp_ns', 'clock_domain', 'source_locator', 'source_frame_id']:
            if key not in f:
                raise ValueError(f'Missing frame field {key}')
    proofs = read_json(view / 'encoding_validation.json')
    for name, c in m['components'].items():
        if not c['available']:
            if not c.get('reason'):
                raise ValueError('Missing unavailable reason')
            continue
        schema = registry['components'][c['schema_id']]
        data = local_ref(view, c['data_ref'])
        valid = pt(local_ref(view, c['valid_ref'])) if 'valid_ref' in c else None
        if valid is not None and valid.dtype != bool:
            raise ValueError('Validity must be bool')
        if 'valid_shape' in schema and valid is not None:
            shape = tuple(t if x == 'T' else x for x in schema['valid_shape'])
            if valid.shape != shape:
                raise ValueError(f'{name} valid shape {valid.shape} != {shape}')
        if data.suffix == '.pt':
            a = pt(data)
            shape = tuple(t if x == 'T' else x for x in schema['shape'])
            if a.shape != shape or a.dtype != np.dtype(schema['dtype']):
                raise ValueError(f'{name} tensor shape/dtype mismatch')
            ok = np.broadcast_to(valid.reshape(valid.shape + (1,)*(a.ndim-valid.ndim)), a.shape)
            if not np.isfinite(a[ok]).all() or not np.isnan(a[~ok]).all():
                raise ValueError(f'{name}: finite valid / NaN invalid policy failed')
            if c['schema_id'] in ('object/rigid/v1', 'transform/se3/v1'):
                r = a[valid, :3, :3]
                if not (np.allclose(np.swapaxes(r, 1, 2) @ r, np.eye(3), atol=1e-4) and np.allclose(np.linalg.det(r), 1, atol=1e-4)):
                    raise ValueError('SE3 check failed')
        elif data.suffix == '.mkv':
            storage = c['storage']
            if storage['profile'] not in schema['allowed_storage_profiles']:
                raise ValueError('Unregistered storage profile')
            for required in registry['video_metadata']['required']:
                if required not in storage:
                    raise ValueError(f'Missing storage field {required}')
            chosen = next(x for x in proofs[name]['candidates'] if x['encoder'] == proofs[name]['selected'])
            hashes = []
            mapping = read_jsonl(local_ref(view, c['mapping_ref'])) if name == 'segment' else None
            if mapping is not None and (len(mapping) != t or [x['frame_index'] for x in mapping] != list(range(t))):
                raise ValueError('Segmentation mapping timeline differs')
            for i, a in enumerate(decode(data, name == 'segment')):
                if list(a.shape[1::-1]) != m['camera']['image_size']:
                    raise ValueError('Video dimensions differ from camera')
                hashes.append(hashlib.sha256(a.tobytes()).hexdigest())
                if mapping is not None:
                    codes = [x['mask_value'] for x in mapping[i]['labels']]
                    if len(codes) != len(set(codes)) or not set(np.unique(a)).difference((0, 65535)).issubset(codes):
                        raise ValueError('Invalid segment mapping')
            if len(hashes) != t or hashes != chosen['ordered_decoded_sha256']:
                raise ValueError('Video differs from exact source comparison proof')
        elif data.suffix == '.obj':
            if not any(line.startswith('v ') for line in data.read_text().splitlines()):
                raise ValueError('Empty mesh')
    return m, frames


def clean_numbers(x):
    if isinstance(x, np.generic):
        return clean_numbers(x.item())
    if isinstance(x, np.ndarray):
        return clean_numbers(x.tolist())
    if isinstance(x, list):
        return [clean_numbers(v) for v in x]
    if isinstance(x, float) and not np.isfinite(x):
        return None
    return x


def preview_view(root, view, m, frames, target, source_root=None):
    videos = {'rgb': decode(view / 'observation/rgb.mkv')}
    c = m['components']
    if c.get('segment', {}).get('available'):
        videos['segment'] = decode(view / c['segment']['data_ref'], True)
    arrays = {name: pt(view / component['data_ref']) for name, component in c.items()
              if component['available'] and component.get('data_ref', '').endswith('.pt')}
    instances = read_jsonl(view / c['segment']['mapping_ref']) if 'segment' in videos else None
    objects = [read_json(p) for p in (view / 'annotation/object').glob('*/metainfo.json')]
    cards = []
    mesh = None
    if c.get('object_mesh', {}).get('available'):
        mesh = np.array([[float(v) for v in line.split()[1:4]] for line in (view / c['object_mesh']['data_ref']).read_text().splitlines() if line.startswith('v ')])
        # Display-only point sampling; full OBJ asset is retained unchanged in data/.
        mesh = mesh[::max(1, len(mesh)//3000)]
    for i, frame in enumerate(frames):
        name = hashlib.sha256(f'{view.relative_to(root)}/{i}'.encode()).hexdigest()[:20]
        rgb_array = next(videos['rgb'])
        image = Image.fromarray(rgb_array)
        overlay = image.copy()
        if 'segment' in videos:
            mask = next(videos['segment'])
            color = np.asarray(COLORS, dtype=np.uint8)[mask]
            mix = rgb_array.copy()
            foreground = (mask != 9) & (mask != 0)
            mix[foreground] = (rgb_array[foreground] * .45 + color[foreground] * .55).astype(np.uint8)
            overlay = Image.fromarray(mix)
            Image.fromarray(color).save(target / f'{name}-mask.png')
        draw = ImageDraw.Draw(overlay)
        if 'keypoints_uv' in arrays:
            pts = arrays['keypoints_uv'][i, 1]
            for a, b in EDGES:
                if np.isfinite(pts[[a, b]]).all():
                    draw.line([tuple(pts[a]), tuple(pts[b])], fill=(0, 255, 100), width=2)
            for k, xy in enumerate(pts):
                if np.isfinite(xy).all():
                    x, y = xy
                    draw.ellipse((x-2, y-2, x+2, y+2), fill=(255, 50, 50))
                    draw.text((x+3, y), str(k), fill=(255, 255, 255))
        objcam = None
        if mesh is not None and 'object_pose' in arrays:
            pose = arrays['object_pose'][i]
            objcam = mesh @ pose[:3, :3].T + pose[:3, 3]
            projected = objcam @ arrays['intrinsic'][i].T
            for x, y, z in projected[projected[:, 2] > 0]:
                draw.point((float(x/z), float(y/z)), fill=(255, 210, 0))
        image.save(target / f'{name}-rgb.png')
        has_overlay = 'segment' in videos or 'keypoints_uv' in arrays or objcam is not None
        if has_overlay:
            overlay.save(target / f'{name}-overlay.png')
        raw_ref = None
        if source_root:
            src = source_root / frame['source_locator']['extracted_path']
            if sha(src) != frame['source_locator']['extracted_sha256']:
                raise ValueError('Preview source differs from build source')
            Image.fromarray(rgb(src)).save(target / f'{name}-source.png')
            raw_ref = f'{name}-source.png'
        values = {key: clean_numbers(a[i]) for key, a in arrays.items()}
        valid = {key: clean_numbers(pt(view / item['valid_ref'])[i]) for key, item in c.items()
                 if item['available'] and 'valid_ref' in item}
        cards.append({'id': frame['sample_id'], 'view': view.relative_to(root).as_posix(),
            'rgb': f'{name}-rgb.png', 'overlay': f'{name}-overlay.png' if has_overlay else None, 'source': raw_ref,
            'mask': f'{name}-mask.png' if 'segment' in videos else None,
            'frame': frame, 'arrays': values, 'valid': valid, 'metainfo': m,
            'annotations': {'segment_instances': instances[i] if instances else None, 'object_metainfo': objects},
            'object_points_camera': clean_numbers(objcam) if objcam is not None else None,
            'object_points_canonical': clean_numbers(mesh) if mesh is not None else None})
    return cards


HTML = '''<!doctype html><html lang="zh-CN"><meta charset="utf-8"><title>手物数据预处理检验</title>
<style>body{font:16px system-ui;margin:24px;background:#101724;color:#ecf3ff}button,select,input{font:inherit;padding:7px}h1{font-size:25px}a{color:#7bd5ff}.grid{display:grid;grid-template-columns:repeat(2,minmax(0,1fr));gap:16px}img{width:100%;background:#000}pre{white-space:pre-wrap;overflow-wrap:anywhere;font:13px monospace;max-height:420px;overflow:auto}figure{margin:0}figcaption{padding:6px}canvas{background:#162434;max-width:100%;touch-action:none}.warning{padding:14px;background:#493915}details{padding:10px;background:#1c293c;margin:10px 0}label{display:block;margin:10px 0}</style>
<h1>手物数据预处理检验</h1><p class="warning">待人工审核。自动无损校验通过 ≠ 标注语义或几何已获人工确认。只展示本报告列出的抽检样本；每个选中视图展示全部帧。未提供模态及原因在元信息中明确列出。</p>
<p>检查：源图与解码 RGB、左右手、标签颜色、源文件定位、valid、相机参数；有几何时检查 2D 投影和可旋转 3D 点云。绿色为手关键点，黄色为物体。3D 点云仅为显示抽样，完整模型见 data。</p>
<label>样本 <select id="sample" aria-label="选择检验样本"></select></label><button id="prev">上一帧</button> <button id="next">下一帧</button><span id="counter"></span>
<h2 id="title"></h2><div class="grid"><figure><img id="source" alt="源 RGB"><figcaption>源文件固定解码 RGB</figcaption></figure><figure><img id="rgb" alt="处理后 RGB"><figcaption>shared MKV 解码 RGB</figcaption></figure><figure><img id="overlay" alt="分割或几何叠加"><figcaption>分割 / 手关键点 / 物体叠加</figcaption></figure><figure><img id="mask" alt="语义标签图"><figcaption>标签图：1 左手红；2 右手蓝；3–8 交互物体；9 源背景灰</figcaption></figure></div>
<section id="geometry"><p id="geometry-note"></p><div id="camera-geometry"><h2>相机系 3D（拖动旋转）</h2><canvas id="scene" width="700" height="460" aria-label="手物三维点云"></canvas></div><div id="canonical-geometry"><h2>物体规范坐标系 3D（拖动旋转）</h2><canvas id="canonical" width="700" height="460" aria-label="物体规范三维点云"></canvas></div></section>
<details open><summary>逐帧来源、时间与 split</summary><pre id="frame"></pre></details><details><summary>所有数值标注与有效性</summary><pre id="numbers"></pre></details><details><summary>所有组件 / 缺失原因 / 相机 / 存储与映射</summary><pre id="meta"></pre></details>
<script>const data=__DATA__;const $=x=>document.getElementById(x);let index=0,yaw=0,pitch=0;
data.forEach((d,i)=>{let o=document.createElement('option');o.value=i;o.textContent=d.id;$('sample').append(o)});
function cloud(canvas,points,colors){let ctx=canvas.getContext('2d');ctx.clearRect(0,0,canvas.width,canvas.height);if(!points.length)return;let center=[0,1,2].map(k=>points.reduce((s,p)=>s+p[k],0)/points.length);let q=points.map(p=>p.map((v,k)=>v-center[k]));let scale=180/Math.max(.00001,...q.flat().map(Math.abs));q.forEach((p,i)=>{let x=p[0]*Math.cos(yaw)+p[2]*Math.sin(yaw),z=-p[0]*Math.sin(yaw)+p[2]*Math.cos(yaw),y=p[1]*Math.cos(pitch)-z*Math.sin(pitch);ctx.fillStyle=colors[i];ctx.fillRect(350+x*scale,230+y*scale,3,3)})}
function redraw(){let d=data[index],hand=(d.arrays.keypoints_xyz||[]).flat().filter(p=>p&&p.every(v=>v!==null)),obj=d.object_points_camera||[];cloud($('scene'),obj.concat(hand),obj.map(()=> '#ffd23f').concat(hand.map(()=> '#50ff9f')));let can=d.object_points_canonical||[];cloud($('canonical'),can,can.map(()=> '#ffd23f'))}
function show(){let d=data[index];$('sample').value=index;$('title').textContent=d.id;$('counter').textContent=` ${index+1} / ${data.length}`;for(let k of ['source','rgb','overlay','mask']){let el=$(k);el.parentElement.hidden=!d[k];if(d[k])el.src=d[k];}$('frame').textContent=JSON.stringify(d.frame,null,2);$('numbers').textContent=JSON.stringify({arrays:d.arrays,valid:d.valid,annotations:d.annotations},null,2);$('meta').textContent=JSON.stringify(d.metainfo,null,2);$('geometry').hidden=!d.object_points_camera&&!d.object_points_canonical&&!d.arrays.keypoints_xyz;$('camera-geometry').hidden=!d.object_points_camera&&!d.arrays.keypoints_xyz;$('canonical-geometry').hidden=!d.object_points_canonical;$('geometry-note').textContent=d.object_points_canonical&&!d.object_points_camera?'仅有静态物体模型；缺少内参/位姿，不生成相机系叠加。':'';redraw()}
$('sample').onchange=e=>{index=+e.target.value;show()};$('prev').onclick=()=>{index=(index+data.length-1)%data.length;show()};$('next').onclick=()=>{index=(index+1)%data.length;show()};for(let c of [$('scene'),$('canonical')]){let last=null;c.onpointerdown=e=>{last=[e.clientX,e.clientY];c.setPointerCapture(e.pointerId)};c.onpointerup=()=>last=null;c.onpointermove=e=>{if(last){yaw+=(e.clientX-last[0])*.01;pitch+=(e.clientY-last[1])*.01;last=[e.clientX,e.clientY];redraw()}}}show();</script></html>'''


def check_release_versions(root, registry, build, versions):
    """The release directory, every view's metainfo and the build recipe must agree."""
    if root.name != registry['release_layout']['directory']:
        raise ValueError(f'Release directory {root.name!r} != registry '
                         f"release_layout.directory {registry['release_layout']['directory']!r}")
    if len(versions) != 1:
        raise ValueError(f'Mixed schema/release versions across views: {sorted(versions)}')
    version, release = next(iter(versions))
    if version != registry['schema_version'] or release != registry['release_layout']['release_id']:
        raise ValueError(f'Views declare {version}/{release}, registry declares '
                         f"{registry['schema_version']}/{registry['release_layout']['release_id']}")
    for name, digest in sorted(build['recipe']['code_sha256'].items()):
        tool = root / 'script' / name
        if not tool.is_file() or sha(tool) != digest:
            raise ValueError(f'Build recipe digest does not describe this tree: script/{name}')
    return version, release


def check_view_coverage(root, build):
    """Every view in the tree must be in the build recipe, and a recipe must cover something.

    ``validate_release`` walks ``build['views']``, so a recipe that lost a view -- or a release
    that carries none -- would validate whatever it happens to list and still write the full
    acceptance report under the ordinary name.  A check that green-lights a smaller scope than
    the release is not an acceptance check.
    """
    on_disk = sorted(p.parent.relative_to(root).as_posix()
                     for p in (root / 'data').glob('*/*/metainfo.json'))
    if not on_disk:
        raise ValueError('No views found in the release tree; refusing to write an acceptance report')
    if sorted(build['views']) != on_disk:
        missing = sorted(set(on_disk) - set(build['views']))
        extra = sorted(set(build['views']) - set(on_disk))
        raise ValueError(f'Build recipe and tree disagree: {len(build["views"])} recipe views, '
                         f'{len(on_disk)} on disk; missing {missing[:3]}, extra {extra[:3]}')
    return len(on_disk)


def validate_release(root, per_stratum=4, seed=20260928, all_views=False, source_root=None):
    build = read_json(root / 'doc/build.json')
    registry = read_json(root / 'doc/schema.json')
    results = {}
    strata = defaultdict(list)
    for relative in build['views']:
        m, f = validate_view(root / relative, registry)
        results[relative] = (m, f)
        strata[(f[0]['source_split'], m['camera_id'])].append(relative)
    version, release = check_release_versions(
        root, registry, build, {(m['schema_version'], m['release_id']) for m, _ in results.values()})
    check_view_coverage(root, build)
    rng = random.Random(seed)
    chosen = sorted(results) if all_views or build['phase'] == 'pilot' else sorted(
        v for s in sorted(strata) for v in rng.sample(strata[s], min(per_stratum, len(strata[s]))))
    target = root / 'doc/validation'
    target.mkdir(parents=True, exist_ok=True)
    # Revalidation invalidates old human review, even if the numeric result stays the same.
    (target / 'human_review.json').unlink(missing_ok=True)
    for p in target.glob('*.png'):
        p.unlink()
    cards = []
    for relative in chosen:
        m, f = results[relative]
        cards.extend(preview_view(root, root / relative, m, f, target, source_root))
    payload = json.dumps(cards, ensure_ascii=False, allow_nan=False).replace('<', '\\u003c')
    (target / 'index.html').write_text(HTML.replace('__DATA__', payload))
    hashes = {p.relative_to(root).as_posix(): sha(p) for p in root.rglob('*') if p.is_file() and '__pycache__' not in p.parts
              and p.relative_to(root).as_posix() not in ('doc/validation/report.json', 'doc/validation/human_review.json')}
    report = {'dataset': build['dataset'], 'phase': build['phase'], 'recipe': build['recipe'],
        'schema_version': version, 'release_id': release,
        'registry_sha256': sha(root / 'doc/schema.json'),
        'automatic_validation_passed': True, 'human_review': 'pending',
        'all_views_checked': len(results), 'all_frames_checked': sum(m['num_frames'] for m, _ in results.values()),
        'numeric_scope': 'every component, frame, shape, validity, registered schema and exact video decoded hash',
        'visual_scope': 'all available modalities; every frame of selected views only',
        'visual_selected_views': chosen, 'visual_sample_ids': [c['id'] for c in cards],
        'seed': seed, 'file_hashes': hashes, 'limitations': build['limitations']}
    (target / 'report.json').write_text(json.dumps(report, ensure_ascii=False, indent=2) + '\n')
    print(f'Validated {report["all_frames_checked"]} frames; HTML: {target / "index.html"}', flush=True)
    return report


if __name__ == '__main__':
    p = argparse.ArgumentParser(description=__doc__)
    p.add_argument('release', type=Path)
    p.add_argument('--per-stratum', type=int, default=4)
    p.add_argument('--seed', type=int, default=20260928)
    p.add_argument('--all', action='store_true', help='Generate previews for every frame of every view; potentially large')
    p.add_argument('--source-root', type=Path, help='Extracted input, to show source RGB alongside shared RGB')
    a = p.parse_args()
    validate_release(a.release, a.per_stratum, a.seed, a.all, a.source_root)